2025 Volume 30 Issue 2 Pages 127-138
Haptic presentation of virtual objects (VO) can enhance immersion by using real objects as manipulation targets. This study explores how the hardness and softness of a VO can be reproduced via a stylus by manipulating the properties of a real stylus and visual stimuli. Experimental results revealed that hardness perception through a soft real stylus is inaccurate without visual stimuli but can be altered when deformation-based visual stimuli are presented. These findings suggest that combining appropriate visual stimuli with stylus softness enables control over the perceived hardness of VO.